TY - GEN
T1 - Bouncing Robots in Rectilinear Polygons
AU - Cagirici, Onur
AU - Bahoo, Yeganeh
AU - Lavalle, Steven M.
N1 - *This research has been supported by the Ryerson University Faculty of Science Dean’s Research Fund 1Department of Computer Science Ryerson University, Toronto, Canada (bahoo,cagirici)@ryerson.ca 2 Center for Ubiquitous Computing, University of Oulu, Oulu, Finland [email protected]
PY - 2022
Y1 - 2022
N2 - In this paper, we describe a bouncing strategy (smart strategy) for a mobile robot that uses one bit of memory for feedback, and guarantees that the robot will traverse all the rooms (and doorways) of a 2D environment. The environment is modeled as a rectilinear polygon (also called orthogonal polygon), and the rooms and the doorways are defined by the decomposition algorithm we describe. Such a decomposition helps the robot to not go back to a room after leaving. We also define the notion of 'virtual doors' that have the ability to let the robot through, or make the robot bounce from them. We compared three different types of bouncing rules: smart, random, billiard. The smart strategy grantees to reach to target. Although the random strategy on average behaves the same as the smart strategy, there are rectilinear polygons in which the robot cannot reach the target in the expected time steps. On the other hand, the billiard bouncing strategy can cause the robot to become trapped.
AB - In this paper, we describe a bouncing strategy (smart strategy) for a mobile robot that uses one bit of memory for feedback, and guarantees that the robot will traverse all the rooms (and doorways) of a 2D environment. The environment is modeled as a rectilinear polygon (also called orthogonal polygon), and the rooms and the doorways are defined by the decomposition algorithm we describe. Such a decomposition helps the robot to not go back to a room after leaving. We also define the notion of 'virtual doors' that have the ability to let the robot through, or make the robot bounce from them. We compared three different types of bouncing rules: smart, random, billiard. The smart strategy grantees to reach to target. Although the random strategy on average behaves the same as the smart strategy, there are rectilinear polygons in which the robot cannot reach the target in the expected time steps. On the other hand, the billiard bouncing strategy can cause the robot to become trapped.
UR - http://www.scopus.com/inward/record.url?scp=85139000480&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85139000480&partnerID=8YFLogxK
U2 - 10.1109/MMAR55195.2022.9874340
DO - 10.1109/MMAR55195.2022.9874340
M3 - Conference contribution
AN - SCOPUS:85139000480
T3 - 2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings
SP - 193
EP - 198
BT - 2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022
Y2 - 22 August 2022 through 25 August 2022
ER -